1.0Dexterous Manipulation and Soft Robotics Labhttps://labs.ri.cmu.edu/foamroboticslabrich600338<blockquote class="wp-embedded-content" data-secret="qydqoQUD01"><a href="https://labs.ri.cmu.edu/foamroboticslab/projects/modeling-and-simulation/">Modeling and Simulation</a></blockquote><iframe sandbox="allow-scripts" security="restricted" src="https://labs.ri.cmu.edu/foamroboticslab/projects/modeling-and-simulation/embed/#?secret=qydqoQUD01" width="600" height="338" title="“Modeling and Simulation” — Dexterous Manipulation and Soft Robotics Lab" data-secret="qydqoQUD01" frameborder="0" marginwidth="0" marginheight="0" scrolling="no" class="wp-embedded-content"></iframe><script type="text/javascript"> /* <![CDATA[ */ /*! This file is auto-generated */ !function(d,l){"use strict";l.querySelector&&d.addEventListener&&"undefined"!=typeof URL&&(d.wp=d.wp||{},d.wp.receiveEmbedMessage||(d.wp.receiveEmbedMessage=function(e){var t=e.data;if((t||t.secret||t.message||t.value)&&!/[^a-zA-Z0-9]/.test(t.secret)){for(var s,r,n,a=l.querySelectorAll('iframe[data-secret="'+t.secret+'"]'),o=l.querySelectorAll('blockquote[data-secret="'+t.secret+'"]'),c=new RegExp("^https?:$","i"),i=0;i<o.length;i++)o[i].style.display="none";for(i=0;i<a.length;i++)s=a[i],e.source===s.contentWindow&&(s.removeAttribute("style"),"height"===t.message?(1e3<(r=parseInt(t.value,10))?r=1e3:~~r<200&&(r=200),s.height=r):"link"===t.message&&(r=new URL(s.getAttribute("src")),n=new URL(t.value),c.test(n.protocol))&&n.host===r.host&&l.activeElement===s&&(d.top.location.href=t.value))}},d.addEventListener("message",d.wp.receiveEmbedMessage,!1),l.addEventListener("DOMContentLoaded",function(){for(var e,t,s=l.querySelectorAll("iframe.wp-embedded-content"),r=0;r<s.length;r++)(t=(e=s[r]).getAttribute("data-secret"))||(t=Math.random().toString(36).substring(2,12),e.src+="#?secret="+t,e.setAttribute("data-secret",t)),e.contentWindow.postMessage({message:"ready",secret:t},"*")},!1)))}(window,document); //# sourceURL=https://labs.ri.cmu.edu/foamroboticslab/wp-includes/js/wp-embed.min.js /* ]]> */ </script> https://labs.ri.cmu.edu/foamroboticslab/wp-content/uploads/sites/19/2020/09/ModelingSimulation.png18901757Modeling and Simulation Due to their continuously deformable nature soft robots are notoriously difficult to design and control. The polyurethane foam we use for our foam hands can undergo large reversible deformations. In order to model the deformation of foam resulting from the contraction of tendons we have developed a custom finite-element simulation framework. This … Continued